import trimesh
import os
import numpy as np


# create suction gripper
print('begin')
suction_gripper_base = trimesh.creation.box(extents=(0.05, 0.05, 0.05),
                                            transform=trimesh.transformations.translation_matrix([0, 0, 0.055]))
suction_gripper_finger = trimesh.creation.cylinder(radius=0.009, height=0.025, sections=18,
                                                   transform=trimesh.transformations.translation_matrix([0, 0, 0.0175]))
suction_gripper_finger_pad = trimesh.creation.cylinder(radius=0.01, height=0.01, sections=18,
                                                       transform=trimesh.transformations.translation_matrix([0, 0,
                                                                                                             0.00]))
suction_gripper = suction_gripper_base + suction_gripper_finger #+ suction_gripper_finger_pad
suction_gripper.export('/home/v-wewei/code/two_stage_pointnet/data/grippers/yumi/suction_gripper.obj')

scene = trimesh.Scene([suction_gripper])
scene.show()

